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I do not really know about legged robots, but they are normally not just simple. But I guess a good start would be to check out an existing legged robot like the Nao: http://wiki.ros.org/action/show/nao?action=show&redirect=Robots%2FNao
The control on your robot you need to do on your own, also the state output, but you need to check for the used topics so that they might fit available software.
SDF or URDF: Use URDF! You maybe read that SDF is so nice, actually true, but the Robot State Publisher does not support it (yet?)! Also if you use XACRO macros you can create SDF from your URDF. So I would definitely go for URDF,
(I started with SDF because I also read the Gazebo Documentation where they say, that SDF is super awesome etc... but they do not lose a word about not being supported by ROS Tools ...)
Regards,
Christian
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